Merge branch 'devel' into 'devel'

Update to changes in curves/serialization

See merge request loco-3d/multicontact-api!12

include/multicontact-api/scenario/contact-phase.hpp

@@ -10,19 +10,16 @@
 #include "multicontact-api/serialization/spatial.hpp"
 
 #include <curves/fwd.h>
-#include <curves/curve_abc.h>
 #include <curves/piecewise_curve.h>
+#include <curves/serialization/curves.hpp>
 #include <map>
 #include <vector>
 #include <set>
 #include <string>
 #include <sstream>
-#include <boost/shared_ptr.hpp>
-#include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/string.hpp>
 #include <boost/serialization/map.hpp>
 #include <boost/serialization/vector.hpp>
-#include <curves/serialization/registeration.hpp>
 
 namespace multicontact_api {
 namespace scenario {
@@ -45,9 +42,9 @@ struct ContactPhaseTpl : public serialization::Serializable<ContactPhaseTpl<_Sca
   typedef curves::curve_abc_t curve_t;
   // typedef curves::curve_abc<Scalar, Scalar, true, point3_t> curve_3_t;
   typedef curves::curve_SE3_t curve_SE3_t;
-  typedef boost::shared_ptr<curve_t> curve_ptr;
+  typedef curves::curve_ptr_t curve_ptr;
   // typedef boost::shared_ptr<curve_3_t> curve_3_ptr;
-  typedef boost::shared_ptr<curve_SE3_t> curve_SE3_ptr;
+  typedef curves::curve_SE3_ptr_t curve_SE3_ptr;
   typedef curves::piecewise3_t piecewise3_t;
   typedef curves::piecewise_t piecewise_t;
   typedef piecewise_t::t_time_t t_time_t;

unittest/scenario.cpp

-// Copyright (c) 2015-2018, CNRS
-// Authors: Justin Carpentier <jcarpent@laas.fr>
+// Copyright (c) 2019-2020, CNRS
+// Authors: Pierre Fernbach <pierre.fernbach@laas.fr>,
 
 #include <iostream>
 
@@ -13,13 +13,10 @@
 #include "multicontact-api/scenario/contact-sequence.hpp"
 
 #include <curves/fwd.h>
-#include <curves/so3_linear.h>
 #include <curves/se3_curve.h>
 #include <curves/polynomial.h>
 #include <curves/bezier_curve.h>
 #include <curves/piecewise_curve.h>
-#include <curves/exact_cubic.h>
-#include <curves/cubic_hermite_spline.h>
 
 typedef Eigen::Matrix<double, 1, 1> point1_t;
 using curves::point3_t;
@@ -37,20 +34,7 @@ using curves::t_pointX_t;
 using namespace multicontact_api::scenario;
 typedef ContactSequence::ContactPhaseVector ContactPhaseVector;
 
-template <typename Scalar>
-struct ATpl {
-  typedef pinocchio::SE3Tpl<Scalar> SE3;
 
-  explicit ATpl() : data() {}
-  explicit ATpl(const ATpl& other) : data(other.data){};
-
-  bool operator==(const ATpl& other) { return data == other.data; }
-
- protected:
-  SE3 data;
-};
-
-typedef ATpl<double> Ad;
 typedef pinocchio::SE3Tpl<double> SE3;
 
 curve_ptr_t buildPiecewisePolynomialC2() {